adding optimizer tool and found better parameters

2019-02-26 16:48:48 +01:00
parent 966134a06d
commit 952925d25f
7 changed files with 218 additions and 28 deletions
--- a/matlab/DeltaTauOptimizer.m
+++ b/matlab/DeltaTauOptimizer.m
@@ -0,0 +1,91 @@
+%before calling that put following line in the command window:
+%
+%   global mot pb;
+% or even:
+%   clear global all;clear all;global mot pb;
+
+function DeltaTauOptimizer()
+  global mot simData1 simData2;
+  if isempty(mot)
+    mot=identifyFxFyStage(7);
+  end
+  SIM1=[1 1; 1 2; 8 2; 9 2];
+  SIM2=[1 1; 1 2; 8 2; 9 2];
+  if isempty(simData1)
+    close all;
+    simData1=ExecSim(mot{1},SIM1);
+  end
+  if isempty(simData2)
+    close all;
+    simData2=ExecSim(mot{2},SIM2);
+  end
+  close all;
+  %test()
+  bodeSim(simData1);
+  bodeSim(simData2);
+end
+
+function test()
+  global pb mot simData1 simData2;
+  %pb=DeltaTauParam(mot{2},7,0);
+  pb=DeltaTauParam(mot{2},9,0);
+  sim('DeltaTauSim');
+  i=6;
+  %simData2(i).mot_mdl_param=SIM(i,:);
+  simData2(i).pb=pb;
+  simData2(i).desPos_actPos=desPos_actPos;
+  bodeSim(simData2);
+end
+
+
+function simData=ExecSim(mot,SIM)
+  global pb;
+  %   mot mdl param
+  simData=struct;
+  for i =1:size(SIM,1)
+    [mdl,param]=feval(@(x) x{:}, num2cell(SIM(i,:)));
+    pb=DeltaTauParam(mot,mdl,param);
+    sim('DeltaTauSim');
+    simData(i).mot_mdl_param=SIM(i,:);
+    simData(i).pb=pb;
+    simData(i).desPos_actPos=desPos_actPos;
+
+    fig=bodeSamples(desPos_actPos);
+    title(fig.Children(2),pb.desc);
+  end
+end
+
+function bodeSim(simData)
+  fig=figure();
+  ax1=subplot(2,1,1);  hold(ax1,'on')
+  ax2=subplot(2,1,2);  hold(ax2,'on')
+  Ts=1/5000; % sampling period
+
+  for i =1:length(simData)
+    sd=simData(i).desPos_actPos;
+    t=0:Ts:sd.Time(end);
+    posI=interp1(sd.Time,sd.Data(:,1),t);
+    posO=interp1(sd.Time,sd.Data(:,2),t);
+    ftI=fft(posI);
+    ftO=fft(posO);
+    tf=ftO./ftI;
+
+    L=length(t);
+    k=(L-1)*Ts; % fmax =1/Ts at sample (L-1)/2 (index0-base)
+    N=[10 220]*k; % number of relevant indexes (index0-base)
+    frq=(N(1):N(2))/k;
+    N=N+1;%index0-base -> index1-base
+    tfn=tf(N(1):N(2));
+
+    %fig=figure(); h=plot(abs(ftI));
+    %fig=figure(); h=plot(abs(ftO));
+    %fig=figure(); h=plot(abs(ftI(N(1):N(2))));
+    h=plot(ax1,frq,abs(tfn), 'DisplayName',simData(i).pb.desc);
+    p=unwrap(phase(tfn))/(2*pi)*360;
+    h=plot(ax2,frq,p, 'DisplayName',simData(i).pb.desc);
+  end
+  grid(ax1,'on');grid(ax2,'on');
+  set(ax1, 'XScale', 'log');
+  set(ax2, 'XScale', 'log');
+  legend('Location','best');
+end